c5f509f238
-Added Navigation & NavigationPolygon nodes -Added corresponding visual editor -New pathfinding algorithm is modern and fast! -Similar API to 3D Pathfinding (more coherent)
138 lines
2.3 KiB
C++
138 lines
2.3 KiB
C++
#ifndef NAVIGATION_2D_H
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#define NAVIGATION_2D_H
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#include "scene/2d/node_2d.h"
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#include "scene/2d/navigation_polygon.h"
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class Navigation2D : public Node2D {
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OBJ_TYPE( Navigation2D, Node2D);
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union Point {
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struct {
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int64_t x:32;
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int64_t y:32;
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};
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uint64_t key;
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bool operator<(const Point& p_key) const { return key < p_key.key; }
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};
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struct EdgeKey {
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Point a;
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Point b;
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bool operator<(const EdgeKey& p_key) const {
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return (a.key==p_key.a.key)?(b.key<p_key.b.key):(a.key<p_key.a.key);
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};
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EdgeKey(const Point& p_a=Point(),const Point& p_b=Point()) {
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a=p_a;
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b=p_b;
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if (a.key > b.key) {
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SWAP(a,b);
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}
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}
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};
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struct NavMesh;
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struct Polygon {
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struct Edge {
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Point point;
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Polygon *C; //connection
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int C_edge;
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Edge() { C=NULL; C_edge=-1; }
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};
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Vector<Edge> edges;
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Vector2 center;
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float distance;
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int prev_edge;
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NavMesh *owner;
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};
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struct Connection {
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Polygon *A;
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int A_edge;
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Polygon *B;
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int B_edge;
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Connection() { A=NULL; B=NULL; A_edge=-1; B_edge=-1;}
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};
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Map<EdgeKey,Connection> connections;
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struct NavMesh {
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Object *owner;
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Matrix32 xform;
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bool linked;
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Ref<NavigationPolygon> navpoly;
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List<Polygon> polygons;
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};
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_FORCE_INLINE_ Point _get_point(const Vector2& p_pos) const {
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int x = int(Math::floor(p_pos.x/cell_size));
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int y = int(Math::floor(p_pos.y/cell_size));
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Point p;
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p.key=0;
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p.x=x;
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p.y=y;
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return p;
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}
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_FORCE_INLINE_ Vector2 _get_vertex(const Point& p_point) const {
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return Vector2(p_point.x,p_point.y)*cell_size;
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}
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void _navpoly_link(int p_id);
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void _navpoly_unlink(int p_id);
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float cell_size;
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Map<int,NavMesh> navpoly_map;
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int last_id;
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#if 0
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void _clip_path(Vector<Vector2>& path,Polygon *from_poly, const Vector2& p_to_point, Polygon* p_to_poly);
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#endif
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protected:
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static void _bind_methods();
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public:
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//API should be as dynamic as possible
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int navpoly_create(const Ref<NavigationPolygon>& p_mesh,const Matrix32& p_xform,Object* p_owner=NULL);
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void navpoly_set_transform(int p_id, const Matrix32& p_xform);
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void navpoly_remove(int p_id);
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Vector<Vector2> get_simple_path(const Vector2& p_start, const Vector2& p_end,bool p_optimize=true);
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Vector2 get_closest_point(const Vector2& p_point);
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Navigation2D();
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};
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#endif // Navigation2D2D_H
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